CN104101335A

CN104101335A - Surveying device, method for surveying target object with the survey device and computer program product

Info

Publication number: CN104101335A
Application number: CN201410144257.4A
Authority: CN
Inventors: J·辛德林; J·舍加; C·L·E·迪穆兰; C·艾斯利
Original assignee: Hexagon Technology Center GmbH
Current assignee: Hexagon Technology Center GmbH
Priority date: 2013-04-12
Filing date: 2014-04-11
Publication date: 2014-10-15
Anticipated expiration: 2034-04-11
Also published as: EP2789972B1; CN104101335B; US9791272B2; US20140307252A1; EP2789972A1

Abstract

The invention relates to a surveying device, a method for surveying a target object with the survey device and a computer program product. The surveying device has a base for setting up the surveying device and a targeting unit, which is rotatable in relation to the base about two axes, and which defines a target axis or targeting a target object to be surveyed. The targeting unit has a first beam path for emitting optical radiation in the direction of the target object to be surveyed and a second beam path for receiving a component of the optical radiation, which is reflected from the target object, by way of an optoelectronic receiving element. In some embodiments, at least one of the beam paths, has an optical element, which is implemented having an optically transparent, deformable volume body, and which has at least one interface toward a medium having an optical index of refraction deviating from the volume body. The interface makes the optical reflective performance changes on at least two different directions by deformation of a plurality of electrical activation signals.

Description

Plotting board, utilize its mapping target object method and computer program product

Technical field

The present invention relates to the Optical Plotting Attachment of particularly stadia, laser scanner or laser tracker and for utilizing the method for Optical Plotting Attachment mapping target object.

Background technology

The device of surveying and mapping technology operates with various forms based on optical measuring system.According to the example of the plotting board of the type for example at US6,873,407, open in CN201892533, US2011/080477, EP1081459, US2012/127455, WO2012/033892, WO2007/079600, WO2010/148525 or other patents.

Conventionally, optical radiation is along waiting that the target of being surveyed and drawn is launched from these devices the direction of picture, target to picture apart from walk-off angle position, that is, polar coordinates are determined, after these polar coordinates, are conventionally further processed.From waiting that the target of being surveyed and drawn is to picture, the component of the radiation of transmitting is reflected to device in this case, received in device, and is transformed into for the definite electric signal of distance.Except the target that mapping nature arranges, specific target label or reverberator also can be attached to target to picture, or for example, can will movably survey and draw bar and be used as target to picture.

The optical radiation of launching here can be for the electro-optical distance measurement of the combination based on working time or phase measurement principle or these principles, as this is for example described in EP1757956, JP4843128, EP1311873, EP1450128, EP1882959, EP1043602, WO2006/063739 or other patents.

The optical radiation of launching also can be painted the identification of picture and/or angular measurement for target.For example, target label can be implemented to being for example the form of retroreflector or being implemented as the visual signature of target to picture, for example, contrasts surperficial bight, edge, border etc., as for example described in WO2011/141447 or EP1791082.The radiation energy of pulse or transmitting continuously launches to help to identify in the visual field target by plotting board.Target for example, is carried out the position-responsive optical receiver component (, utilizing the flat surface sensor in CCD or CMOS technology, the layout (such as photodiode, double cell, integration diode) based on horizontal photoelectric PSD or one or more photoreceptors etc.) in the identification as in angular coordinate and/or mapping energy use device.

For angle, determine, plotting board is equipped with one or more clinometer rules or angular instrument conventionally, and by clinometer rule, device or its part can be rotated in order to aim at, and can determine position, angle here.The angular measurement of target is painted and can be utilized clinometer rule analysis by the accurate run-home of target axis of use device, picture to be carried out.Yet, especially in the situation that for the suitable cooperation target of this object, target also can utilize clinometer rule to carry out in the visual field of the photoelectron angular measurement unit (ATR) of device to coarse aiming of picture.By determine the deviation aiming at apart from ideal in the visual field, the measured value of clinometer rule is proofreaied and correct by this deviation subsequently.Such method is for example described in JP3748112 or GB2353862.In plotting board, around the motion of the rotation of clinometer rule, can manually and/or with maneuver mode carry out.

For distance and/or angle, determine, can use radiation or shared radiation by each self-separation of device transmitting.

Known in stadimeter, dispersing from the wide emission angle for synergic reflex device target of the measuring beam of launching is applied to the natural surface of target to picture towards the transformation energy of the calibration measurement light beam of measuring for no reflection events device.For example, this can carry out by lens are pivoted in the optical devices that beam path or other have identical result.Document US2012/0224164 discloses a kind of optical distance-measuring device, in this optical distance-measuring device, can carry out the conversion of cross-sectional area of the measuring radiation of transmitting.In an embodiment, the liquid lens with the focal length that can be converted is changed for width of light beam therein.

Except above-mentioned measurement optical system, for the user that operates or for the target of the file measured, to the camera record of the visual picture of picture, also can be performed at plotting board.By means of electronic image, process, can carry out following function, such as the automatically performing of: edge identification, target identification, feature extraction, scheduled measurement program, touch screen operation, operated from a distance, live image transmission, record etc.Except these electronic installations for user's recording image, traditional visible light transmission optical channel also can be set for observing the target aimed to picture.

So-called RIM(scope image-forming module) be also known, the identification of a plurality of pixels of the project of the related range information of this RIM execution tool, is the objective object recognition of a cloud form that is.One example of this identification is for example described in EP1684084.Obtainable distance and angular resolution and to also have obtainable precision be not enough in many cases, yet, especially for precision measurement, for example, in geodesy application.

In geodesy, as frequent application of the present invention field, at angle, determine and need high-caliber measuring accuracy in distance is determined.For example, in land surveying field, use the stadia or the master station's instrument that there are several millimeters or be also less than the range measurement accuracy of 1mm.Require respectively several kms in the situation that reverberator is measured or the measurement range of the hundreds of rice in the situation that no reflection events device is measured.The precision of angular measurement in being less than the scope of 2 to 10 second of arcs, is preferably 1 second of arc, 0.5 second of arc or less conventionally.By the following fact, make these requirements more difficult, that is, such plotting board is usually for having the coarse environment of the environmental baseline (such as temperature, ambient humidity etc.) of strong variations.

In order to obtain desired high-caliber precision, the high precision in device production is necessary, especially in the aligning of the parts in light path.

Important standard represents by the precision and stability of the aligning of score, and especially the score of the score of stadimeter or automatic target direction measuring device (ATR) is with respect to the aligning that aims at the target axis of unit.

Yet the light path in device inside also becomes and becomes increasingly complex because increasing function is attached in plotting board.Plotting board for example can have the beam path for range observation, and visible guide beam, automatic target identification, automatic target aligning, transparent observing, general view camera, zoom function, recording image, target illumination, optical data communication, internal reference are partly etc.Not only the optics because of required high quantity makes device difficult design, and all parts that participate in respectively aligning (treating to carry out at production period) is relative to each other verified is more difficult and more complicated.Probability also increases along with the quantity of parts, and parts in these parts can be subject to inside or external action and misalignment, and therefore installs loss of accuracy.

Additional particularly movable parts are attached in plotting board and can be harmful to its measuring accuracy and stability, the minimizing of number of components and avoid the movable member such as mirror scanner because this will seek the simplification of beam path.

The illustrative embodiments of the liquid lens of prior art is for example found in US2012/0063000 or the list of references wherein quoted.Such liquid lens is developed especially for portable camera, such as video camera or ordinary camera, webcam, cell phone cameras, panel computer camera etc.Also developed such lens, it also allows optical image stabilization (OIS) except the varifocal for focusing.This example is at WO2012/035026, WO2008/037787, US2010/0295987, US2012/0026596, EP2009468 or US RE39, found in 874.Yet in the present invention, liquid liquid lens is not used in the original object of its target to the optical image recognition of picture, that is, and for image-forming block, but for actinometry, that is, and the mapping parts of device.

The in the situation that of liquid lens, there is the activation and the principle of work and power that greatly change, for example, electricity is wetting, piezo-activator, magnetic actuator, capacitive actuator etc.All these total such features, that is, the optical property of liquid lens changes to be responded to or is controlled by electric activation signal.

Replace the wherein lens of the displacement of optical light beam refraction based on liquid, also can use the lens with the amorphous polymer in rubber-elastic stage.Here material used is used on glass temperature, makes their energy elastic deformations.Hyaline membrane can be set to two boundaries between such deformable medium.For example, according to lens of the present invention, also can utilize the material being closed in rubber-elastic cuff to implement, this material comprises transparent (in related spectral range) and extensile material, for example tygon.

Therefore term liquid lens is understood to such optical element here, this optical element has the volume main body that can be out of shape in specific aim mode by actuator, the deformability (this deformation performance is activated in specific aim mode) of wherein utilizing the interface of optics useful volume main body, the light refraction characteristic of element is variable with limiting mode.For example, this is polymer lens or the traditional liquid lens that can be out of shape in specific aim mode by actuator, for example, and as produced by Varioptic S.A.

According to the present invention, plotting board has for handling the control module of at least one volume main body, and described volume main body can be out of shape in specific aim mode by actuator.For example, plotting board has at least one volume main body, lens can are out of shape and be implemented as to described volume main body in specific aim mode by actuator, and described volume main body has at least three actuators of circumferentially arranging with distribution mode along it, these actuators can be activated by described control module, and the light refraction characteristic of described element can differently be changed at least two incomparable inconsistent directions.

If optical element is the liquid lens with liquid capacity main body, therefore this comprise the optical clear chamber for example with the first and second optically transparent mediums, and wherein said the first and second media are immiscible and have different light refractive indexes.The medium that forms respectively volume main body can be for example: moisture, containing alcohol or oily liq; Polymkeric substance in liquid condition; Silicone; Or silicone oil.Between described the first and second media, interface is set, wherein said interfacial energy, by described actuators deform, can differently change the light refraction characteristic of described liquid lens at least two incomparable inconsistent directions.Alternatively, thin hyaline membrane can also be set between two media.

For example, optical element can also be embodied as the polymer lens that can be out of shape in specific aim mode by actuator, wherein this polymer lens thereby comprise the optical clear volume main body with optically transparent medium in one embodiment.Described volume main body at least utilizes thin hyaline membrane to be closed in a side, and this film for example consists of the polymkeric substance in elastically deformable or rubber-elastic stage.Described film comprises the central area that represents lens body, and comprises perimeter region, and this perimeter region has reservoir, and this reservoir has optically transparent medium, and the elastic property of wherein said film or its thickness are different in regional.Described film can be by described actuator-operated, makes the content of described reservoir can be displaced to described lens body neutralization and shift out described lens body and enter in described reservoir.Like this, the described light refraction characteristic of described polymer lens can differently change at least two incomparable inconsistent directions.The polymer lens of another type can utilize polymer film to implement, and the curvature of this polymer film changes to set refracting characteristic in the mode being activated by actuator.The material of such polymer lens can be selected from and comprise for example group of following material: polystyrene or the polyurethane of the multipolymer of polyethylene glycol dimethacrylate (PEGDM), hydroxyethyl methylacrylate (HEMA), PEGDM and HEMA, hydrogel, silicone, soft silicone, polysiloxane, tygon, polypropylene, improvement.

For the specially suitable form of the deformable volume main body made by rubber-resilient material, be meniscus lens for example, because the in the situation that of meniscus lens, can utilize radial force to cause the well-controlled of two lens radius to change.Because remain unchanged on the first approximate or height of incidence of the material thickness of volume main body in All Ranges, therefore, distribute to two surperficial radius-of-curvature and differently change when applying radial force, thus, according to lens, manufacture principle, the refracting power of such flexible member also changes.Meniscus lens also has advantages of small sphere of exterior rearview aberration in the situation that of different distortion, and this is because meniscus shape can keep in whole setting range.The selection of the Shore hardness of lens material and particularly foundation are determined by size and the size of volume main body to be deformed substantially.Have low Xiao A hardness (DIN53505) a kind of may material will be silicone formula mold materials, such as Wepesil VT3601E (Xiao A hardness: 45), the material with medium Xiao A hardness that is casting resin form will be polyurethane(polyurethane for example) Wepuran VT3404 (Xiao A hardness: 50).

For the volume main body that can be out of shape in specific aim mode by actuator, have greatly activation and the principle of work and power changing, for example, electricity is wetting, piezo-activator, magnetic actuator, capacitive actuator, thermal actuator etc.By the electric activation signal being produced by actuator, cause directly or indirectly the variation of optical characteristics at the interface of volume main body, described interfacial energy is out of shape in specific aim mode by actuator.

According to liquid lens of the present invention therefore also comprise as described in other lens elements that can set, wherein refracting characteristic can be carried out by the deformation at interface, this deformation can dynamically activate during operation, particularly electric power activates.

Because instrument of surveying and mapping and measurement mechanism for the equipment that greatly changes, layout and setting position or also pivotable in mapping coverage, therefore the gravitational independent as far as possible of the element in instrument of surveying and mapping, thus avoid otherwise by the relevant readjustment of additional gravity that is necessary liquid lens driver.Therefore, in many embodiments of plotting board, gravity invariant parts are preferred in light path, and these parts keep it to be independent of the characteristic of locus and its gravity direction.An example of the agravic formula liquid lens causing due to equal fluid density for example finds in WO2008/095923.

Score is revised to utilize according to the liquid lens in plotting board of the present invention and is carried out, and this liquid lens is provided with variable sidewards refracting characteristic.This is understood to mean, the beam path of plotting board 11 is modified by liquid lens.This score is revised and can correspondingly in plotting board, be carried out statically,, constant or do not there is or only have the very small speed changing according to time sequencing-and/or dynamically (in a very long time after the first setting, according to time sequencing) change, for example cyclically or periodically change, as this is described in the back in more detail.In addition, static object line is revised and to be also called in the back " beam alignment " and dynamic object line and to revise and be called " light beam turns to ".According to the present invention, can cause respectively the modification of listing individually or with any combination in any of liquid lens.

Beam alignment can be used for forming static object line and revise, for example, and for alignment purpose, that is, for example, for auto-alignment plotting board.Therefore automatic target line stabilizationization is performed in some sense.Therefore, for example, manufacture and alignment device during high request also can partly be reduced, this is because of compensating (especially less) misalignment according to liquid lens of the present invention in plotting board.This can activate to automatically perform by electricity, and the calibration parameter of one group of association can be stored, and this group calibration parameter can again again be obtained and can be set on liquid lens during powering up at every turn.Thermal drift also for example can utilize for example aforementioned definite correction card to compensate.Especially because of several alignment errors, also can the two positions measurement in the visual field determine, so the static liquid lens setting of corresponding requirements also can be determined in the visual field and according to the environmental baseline of current existence.In order to solve possible device defect, liquid lens according to the present invention is necessary, it not only allows simple Focussing, and its deformable can, at least two incomparable inconsistent directions, especially differently change the therefore light refraction characteristic of liquid lens at least both direction in the plane of optical axial that is orthogonal to liquid lens.Particularly, described direction can be divided into lens cross-sectional area at least approximately section of equivalent size.

Utilize the optional identification of the incidence point of the optical radiation of the transmitting of (for example, in camera images) on target object, laser eyepiece line can be visual and can be caused being the active stabilization of its position of control loop form.Except position, also can regulate other score parameters, such as the spot size in target, beam shape etc.Yet in order to utilize feedback regulation, the identification in radiative device also can be applied in after liquid lens, wherein also can use optional inside (parasitism) the mirror effect on lens, the residual transmission on beam deflection element etc.(for example remove special-purpose optical position sensitive element, PSD, integration diode or as one or more PIN diode of actual value generator) outside, those reverberators also can be directed in the untapped pixel of the camera of for example having established for another object.Be by capacitive transducer for example determine liquid lens originally the feedback of the form of current lens shape be with it for carrying out another possibility of the active adjustment of liquid lens.In addition, the project of the range information of distance-measurement module also can be bonded to the control loop activating for liquid lens, to guarantee the gathering of measuring beam on tracking target object.

Except the most targetedly possible aligning of range observation score on the target axis of plotting board, be also favourable with the specific aim of this condition and controlled deviation the various measurements application in the situation that.The example of such score modification of liquid lens of utilizing according to the present invention is providing below.

Due to the different distortion of liquid lens in multiple directions, the direction variation that can obtain the setting of beam divergence or light beam convergence and also obtain the optical radiation of transmitting.In other words, when observing the direction of propagation of the light beam of launching, obtain more or less the wedge effect that can set in two dimension.Yet in the situation that utilize the executable score of liquid lens according to the present invention in plotting board to revise, the present invention even surpasses this effect, shown in the other example of score modification according to the present invention.

For example, liquid lens can be applied to be in the plotting board of form of laser scanner, described at international application no PCT/EP2012/058656.In the scope of the calibration steps of explanation, according to liquid lens used of the present invention, can be used for plotting board for active error compensation here.Utilize revising and can be used for Compensation Objectives line error according to score according to the present invention of liquid lens.Due to the high dynamically active ability of liquid lens, this can even carry out during scan operation, that is, for example, in the once rotation of scanner, variable axis adapts to and/or automatic focus.Because the device particular configuration of scanner, liquid lens is advantageously attached in apparatus main body, that is, it is an axis rotation in two axis only.

For example, if object is surveyed and drawn at the interior laser scanner that utilizes of larger distance, therefore the deflecting mirror for measuring radiation is further rotated during the transit time of light pulse (TOF), and thus, the visual field of receiver (FOV) be pivotable also.The in the situation that of rapid scanning motion and/or large distance, this respect must be considered in the optics visual field of design receiver, for example,, because the visual field is for example extended to guarantee that light pulse still can be received (wherein deflecting mirror is correspondingly further rotated) at the terminal of transit time in the scope of FOV and therefore with respect to angle by the circular port expanding.Yet the larger visual field has following shortcoming, that is, more surround lightings will be collected and measuring-signal worsens because of shot noise.Opto-mechanical disappears for this reason, and to turn device be known solution.From ranging pulse group object reflection and that arrive receiver hole at least approximate description circular path.By means of Dove prism (Dove prism), rotatablely moving on circular path can at least be imaged or be transformed into static polar angle section, and receiver hole can be implemented as slit and be less than the situation that does not activate indemnifying measure thus.In the situation that in the beam path of stadimeter liquid lens according to use of the present invention, the circular path of being described by pulse group can be transformed back on the optical axial of receiver.This can realize by the liquid lens for example, synchronously activating with scanner yaw motion (that is,, the rotation of deflecting mirror).Especially, liquid lens in receiving beam path can be activated for this reason, its light refraction characteristic is differently changed at least two incomparable inconsistent directions (the especially at least both direction in the plane of the optical axial perpendicular to liquid lens), make receiving beam incident all the time through on receiver little (for example, circular) hole, and therefore the visual field of receiver can be selected to less and less surround lighting and is hunted down.Therefore liquid lens compensates or reduces previously described circular path, is preferably reduced to a luminous point.

When adopting liquid lens used according to the invention in plotting board, can carry out score modification, and not use complicated mechanism and movable member, and the beam path in device can be more not complicated.On the contrary, beam path be simplified and stadimeter in required parts and parts aim at simplyr, this is because many out of true performances are compensated by liquid lens, this liquid lens can be by suitable activation differently adjusting in multiple directions.

According to the present invention, requirement for factory calibrated and assembly precision can significantly be loosened in some regions by means of liquid lens, this is because utilize according to structure of the present invention, many errors can be detected and, if necessary, also between operation or aforementioned arrangements and alignment epoch, in the visual field, compensated.For example, utilize known two positions to measure, axis based error can be established in the visual field and this can be compensated by the suitable activation of liquid lens.All current environment conditions are also all taken into account.The liquid lens permission direct adaptation of optical device and the actual removal of error and the not only existing error of digital compensation do not require the mechanical interference in device for this reason.

The minimizing that causes number of components according to the present invention also contributes to improve precision, especially improves long-time stability and the robustness of plotting board.

In addition, utilize according to liquid lens of the present invention, image error also can be remedied in instrument of surveying and mapping.For example, the in the situation that of little volume instrument, beam path usually utilizes hollow mirror folded simultaneously and assemble, and wherein the aberration of optical wavefront is in the situation that the arranging and to occur from axle of this mirror.By means of the liquid lens with a plurality of drivers, driver is for example the form of the active electrode on the perimeter that is placed on lens, can compensate so more higher order aberrations.For example, along level and vertically the astigmatism of horizontal direction or coma can by the difference on electrode control that voltage be changed and therefore the corresponding systematic error of beam path can be corrected, and in instrument the mechanical registeration of the position of optical element is not necessarily.

Light beam turns to and can revise for dynamic (that is, changing fast according to time sequencing) score, for example, and for scanning or target following.Thereby liquid is obtained by dynamically active thoroughly and the deviation intentionally of target axis,, in other words, utilizes stadimeter scanning target area that is.

Several exemplary application are below described, such as measuring edge and bight, and surperficial inclination angle is determined.

Another example that dynamic object line is revised is followed the tracks of representative by the dynamic route of the target object moving.In the prior art, this servo axis by device is performed individually, and these servo axis are usually designed to and are more used for accurate rapid movement.Having the stadia of ATR function or transit in fact can pursuit movement target, though telescope aim at not by ideally in alignment with moving target point, yet EDM usually has the too small visual field (FOV), and signal interruption is occurred repeatedly.By means of for score, revise according to liquid lens of the present invention, on the one hand, the FOV of range observation can be changed.For this reason, for example, liquid lens also can be used in the receiving beam path of EDM.On the other hand, in the larger FOV of ATR, the direction of EDM score is controlled and can be performed, that is, stadimeter can be intended being aligned on target object, and the relative inertness target axis of device is not followed the tracks of target travel fast.Device axis is tracking target object slowly and cursorily only, although can follow the tracks of faster and move by means of liquid lens.Therefore in the situation that the path trace while there is no signal interruption can be surveyed and drawn 3-D coordinate.

Except aforesaid operations pattern, the beam alignment of liquid lens of utilizing according to the present invention also can revise as another static object line changes in aggregation or the beam divergence of realize target line.Utilize the suitable activation of liquid lens, particularly, by the suitable activation that causes interface to be carried out along the excitation of at least near symmetrical distortion of both direction, the focal length of carrying out the radiation of transmitting is changed.Therefore, for example, by the convergence of the change near field (being less than about 30m), the near field of measuring radiation is covered and can be avoided by coaxial beam path, that is, so-called actinometry near field optic can be implemented in mode automatic and energy free structure.In the situation that reverberator is measured, (for example utilize prism target) and disperse to be also selected to the situation that no reflection events device is measured that is greater than, in no reflection events device is measured, there is the less gathering light beam of dispersing and preferably used.In plotting board, utilize according to liquid lens of the present invention, in this scope that can revise at score, be performed, the parts of the Mechanical Moving such as the pivotable lens from prior art not necessarily.

By means of focal length variations, to measure between reflectance target mark phase, the intensity that receives signal also can be set within the specific limits.For example, beam divergence can change with the increase of distance inversely proportionally, and therefore the luminous point on reverberator has constant diameter.On reverberator, therefore irradiance can keep at least approximately constant, and thus, the signal intensity on receiver also keeps at least approximately equating (unheeded atmosphere transmission here can also be taken into account alternatively).Treat that therefore the signal dynamics of being managed by reception electronic installation can be lowered substantially and/or absolute distance measurement precision can be enhanced.

Except for no reflection events device range observation minimum, disperse may the transmitting of light beam, the gathering of the light beam on target object also can be performed as a kind of automatic aggregation capability, this automatic aggregation capability can not only be for improvement of the observability of impact point or the higher signal strength in EDM, but also allows the higher point resolution that for example caused by less measurement point between the preparatory stage at the some cloud that utilizes stadia or laser scanner.In order to set focal length, can improve the result of range observation.Utilize this score to revise, user for example can specify during measuring or between two measurements the desired diameter of the impact point of stadimeter on target object for example to solve the geometric configuration of particular measurement task or target object.

As another static object line being undertaken by liquid lens, revise, in the situation that transmitting is for two wavelength of range observation, no matter alternatively (for example, IR or visible) or jointly (there is the IR for the visual visible guide beam of score), utilize one or more liquid lenss can cause aligning or the different compensation of dispersing of corresponding optical axial.Therefore, for example, have laser diode, these laser diodes are known in the prior art and have very close two launch sites each other for different wave length, described laser diode is also available, and this is because two passage capable of beings utilize liquid lens to put together alternatively.Therefore, for example, for the dispersing IR light beam or can be launched for the calibration visible light beam of no reflection events device target of the target object that cooperates, the conversion that wherein same target line is aimed at and guarantee to utilize the liquid lens for plotting board according to the present invention to realize.

According to the present invention, can utilize the compensation that another special characteristic that score that liquid lens carries out is revised is dispersed axle by the difference of semiconductor laser to represent.Therefore utilize liquid lens to carry out to be the static object line of form of beam shaping of the different angles of divergence of the optical radiation of being launched by semiconductor laser to revise.According to the present invention, this can the different distortion along multiple directions be compensated by liquid lens.The remaining astigmatism of laser diode therefore can be remedied and target object on luminous point can not too be become to be thus shaped and typically also less ovally, the irradiance on target object also becomes larger thus.

If two spaced specific ranges of liquid lens are used, therefore produce other beam shaping possibility.Due to the flexible activation capability of the right distortion of lens, therefore for example, the oval-shaped beam of laser diode can be transformed into circular beam.Therefore semiconductor laser diode can be arranged in device with any arbitrary orientation almost.And, do not have the optical element must be after this by mechanical registeration, but by means of liquid lens, aligning can be first during setting up factory to arrange or be assembled and carry out with device in the visual field even after a while.

Another static change of being undertaken by liquid lens can be the form of the deflection in the reference path of the known length at least a portion auto levelizer of produced measuring radiation to be carried out, to carry out the calibration of range observation function.Utilize liquid lens, the variation of the component of the radiation being deflected via inner track can be revised and be performed as score, and the movable-mechanical-section part in device not necessarily for this purpose.

Can in plotting board, utilize the operator scheme of the above-mentioned beam alignment that liquid lens carries out according to the present invention can be applied in prior art is not that another known dynamic object line is revised yet.Utilize the liquid lens in plotting board, for example, before the optical mixer of transmitting pusher side can be implemented for and make the modulating wave of stadimeter in simple mode, (FRD) is level and smooth.FRD can utilize the liquid lens of dynamic mobile to mix to improve by laser beam, especially in the situation that the refracting characteristic of liquid lens can differently be modified according to the present invention on two or more different directions.In addition, the high dynamic response of modification or bandwidth also can utilize liquid lens to obtain.This dynamic object line revise not only in the situation that from the range observation radiation of plotting board transmitting but also in the situation that the ATR radiation of transmitting can advantageously apply.

In measuring the plotting board occurring between transmitting and/or ATR radiation era, according to the dynamic deformation of liquid lens of the present invention, also can be applied to suppress spot impact.For this reason, the very small variation of the refracting characteristic of liquid lens is usually enough, that is, and only its interface microdeformation.This can carry out with corresponding high frequency, if necessary, also revises overlapping with other scores described herein.For example, the subtle change (that is, the breathing of gathering) of the periodicity minimum change of the angular deflection of liquid lens (that is, the light beam of transmitting shakes) or focal length can be performed.The more complicated distortion of lens interface can also be performed to cause utilizing such effect of a plurality of liquid lenss that activate.

Occurring in the receiving beam path of ATR module according to further application of the invention of liquid lens, wherein can utilize for example, the variable gathering in target object or target (, as for being attached to the retroreflective tape target of the retroeflection film of target object) of liquid lens carries out image sensor.If as ATR target, therefore focusing energy is performed so that double apart from the distance of target by prism.Yet, in the prior art, it is unlimited that the receiving beam path with the ATR of fixed focal length optical device is configured to, and this causes particularly with target in the situation that the imageing sensor of ATR or the fuzzy imaging of the luminous point on PSD near field, thus the orientation measurement out of true that becomes.In the receiving beam path of ATR, utilize according to liquid lens of the present invention, especially also near field, can obtain at least approximate acutance imaging of ATR target.If can be in ATR receiving beam path differently changed along both direction at least according to one or more liquid lenss of the present invention, therefore, for example, the visual field of ATR receiver also can be shifted by horizontal or vertical, for example, so as in the situation that there is no axial-movement level and/or scan vertically the larger region for target.In addition, the zoom function of the receiving cable of ATR can utilize liquid lens according to the present invention to obtain, for example, to determine the coarse position of target in the activation for the first time thering is more wide-field liquid lens, to aim at cursorily this position by pivoting device axis if necessary, and in utilizing than the activation for the second time of the liquid lens in the aforementioned less visual field, accurately determine in known manner subsequently target location.

Summary of the invention

Therefore the object of the invention is to improve the measurement that utilizes plotting board.

A part for this object is to improve measuring method well known in the prior art and makes its robotization, and is to provide novel measurement function to user.

The aligning maintenance of plotting board and the therefore improvement of measuring accuracy are another part of this object.

Also have an object to be to simplify the structure of plotting board, or, in other words, be to provide a kind of can be simpler and plotting board that cost is carried out effectively, that is, this plotting board has for example lower parts and cost is installed, and this does not limit obtainable measuring accuracy.

Part object be also to provide a kind of can with highly integrated form produce and have minimum may parts, especially the least possible removable and/or treat the plotting board with the parts of high precision alignment.

An object is the also necessity of the accurate aligning of optical element between the production of constructing more simply aligning during erecting device or avoiding installing and/or alignment epoch.

Another object is to user, to provide such possibility during using plotting board,, allow to distribute in position,, the accurate aligning of the score of the measuring unit of the plotting board in the visual field for example also, with correcting action, in the scope that described deviation is measured at two positions, physically and not only determine in number separately.

A part object is also to obtain improvement or the simplification of the aiming of measurement target during angle and/or range observation.

Object of the present invention is especially jointly to realize above-mentioned purpose in a plotting board.

Optical Plotting Attachment according to the present invention is after this such as being described to stadia, laser scanner, laser tracker, master station etc.Described device has for setting up or place the base portion of this plotting board and aiming at unit, and this aims at unit and can around two axis, rotate with respect to described base portion, and these two axis are provided with clinometer rule.Described aiming unit is defined for to aim at waits that the target of being surveyed and drawn is to the target axis of picture (or being respectively the target measurement point upper to picture), and this target axis can be around described two axis rotation.Described aiming unit has the direction to picture for the described target along waiting to be surveyed and drawn, particularly in polar coordinates for the first beam path of utilizing emitted light radiation, and for receive the second beam path of the component of described optical radiation picture being reflected from described target by photoelectron receiving element.

According to the present invention, at least one path in described beam path has optical element, this optical element is designed to have optically transparent deformable volume main body, and this volume main body has at least one towards the interface with the medium of the light refractive index that departs from described volume main body.

Described interfacial energy, by means of a plurality of electric activation signal distortion, differently changes the therefore light refraction characteristic of described element at least two non-uniform directions.

Particularly, described direction is at least approximately orthogonal to the optical axial of described optical element.In one embodiment, described optical element can be implemented as liquid lens, and described deformable volume main body can be formed and the interfacial energy of this volume main body is out of shape by means of electric activation signal by liquid.

Particularly, at least one path in described beam path has the optical element that is for example liquid lens form, this optical element is implemented as the element with optical transparent liquid, and this element has at least one towards the interface with the medium of the light refractive index that departs from liquid.Described interfacial energy, by means of a plurality of electric activation signal distortion, therefore differently changes the light refraction characteristic of described element at least two incomparable inconsistent directions.

Particularly, the distortion of described interfacial energy, makes the light refraction characteristic of described element therefore variable in three dimensions, that is, and in the vertical and variable on the both direction transverse to beam direction.In one case, the curvature at described interface can be set changeably, because lens are activated equably.In another case, the curvature at described interface differently changes at least two incomparable inconsistent directions.Other in the situation that, the center of curvature is differently displacement at least two incomparable inconsistent directions.

For example, along with (, being the form that activates actuator or electrode) quantity of driver, the quantity of the executable setting possibility that can carry out on liquid lens also increases, and therefore, through the influence degree of the optical wavefront of the light beam of lens with change also and increase.The wavefront parts that depart from predetermined ball or plane are special care.The such deviation that is usually called as wave aberration can for example be represented as the series expansion of Zelnick polynomial expression (Zernike polynomials).The coefficient of distributing to respectively polynomial series expansion provides the information about the intensity of corresponding impact.Suitable electricity by electrode activates, coefficient can also be subsequently in the situation that the liquid lens being fixedly mounted in device according to the present invention, optionally change.

In the simplest situation, by means of electricity, activate, for example, affect focus for polynomial coefficient or cause being changed for those coefficients of the wedge effect of lateral beam deflection.Focal variation for example can be set in the scope from-40dpt to+50dpt, and beam deflection can for example be set in the scope of +/-5o by wedge effect.The above-mentioned range of adjustment of liquid lens can suitably change ratio as required by means of the additional optical system face of the upstream at this liquid lens and/or downstream connection.

The horizontal direction of distributing to wedge effect is at least approximately arranged in the element plane of liquid lens,, is in other words arranged in the plane (under unactivated state) of the optical axial that is at least approximately orthogonal to liquid lens that is.These directions can especially be divided into the main axis cross section of lens body at least approximately section of equivalent size.

The first and/or second beam path can for example be assigned to automatic target search, target identification, target detection or the target following of photoelectron stadimeter and/or plotting board.Especially, the first beam path can be that laser eyepiece line and second beam path of photoelectron stadimeter can be the receiving cables of stadimeter.

In order to realize beam shaping and/or beam deflection in having the plotting board of LASER Light Source, known method (for example, such as the micro mirror array in MEMS technology (DLP) or crystalline network) is not directly applied.These are for example because the inhomogeneous activation behavior crooked or single mirror of micro mirror causes visible crystalline network or the light beam distortion in light beam and/or worsens divergence.In the situation that further not measuring, current known micro mirror MEMS is unsuitable for the application of laser mapping.

Accompanying drawing explanation

Concrete illustrative embodiments based on schematically illustrated in accompanying drawing is only described to the method according to this invention and according to device of the present invention in further detail as example below.More advantages of the present invention also will be discussed here.In independent accompanying drawing:

Fig. 1 shows the example of the embodiment of plotting board in restriction of the present invention;

Fig. 2 a shows according to the schematic diagram of the inner structure of the first embodiment of plotting board of the present invention;

Fig. 2 b shows according to the schematic diagram of the inner structure of the second embodiment of plotting board of the present invention;

Fig. 2 c shows according to the schematic diagram of the inner structure of the 3rd embodiment of plotting board of the present invention;

Fig. 3 a, 3b and 3c show the liquid lens utilizing in plotting board and carry out the first exemplary schematic illustration of revising according to score of the present invention;

Fig. 4 a and Fig. 4 b show the second exemplary schematic illustration of revising according to score of the present invention of utilizing liquid lens in plotting board;

Fig. 5 shows the first exemplary mode of operation according to the embodiment of liquid lens of the present invention;

Fig. 6 a, 6b and 6c show the second exemplary mode of operation according to the embodiment of liquid lens of the present invention;

Fig. 7 a, 7b and 7c show the 3rd exemplary mode of operation according to the embodiment of liquid lens of the present invention;

Fig. 8 a, 8b, 8c, 8d, 8e, 8f, 8g, 8h and 8i show and utilize revising according to the exemplary goal line in plotting board of the present invention of liquid lens;

Fig. 9 shows and utilizes the illustrative diagram of revising according to the first object line of liquid lens of the present invention;

Figure 10 shows and utilizes the illustrative diagram of revising according to the second score of liquid lens of the present invention;

Figure 11 shows and utilizes the illustrative diagram of revising according to the 3rd score of liquid lens of the present invention;

Figure 12 shows and utilizes the illustrative diagram of revising according to the 4th score of liquid lens of the present invention;

Figure 13 a, 13b and 13c show utilization have liquid lens according to the mapping task of plotting board of the present invention

The example that score adapts to during this time;

Figure 14 a, 14b and 14c show for score, revise have liquid lens according to the other example of the embodiment of plotting board of the present invention.

Embodiment

Fig. 1 shows the example of application plotting board 11 of the present invention.Device 11 has base portion 1, utilizes this base portion device for example to utilize tripod (not shown) to be configured for surveying and drawing object here.The apparatus main body 2 of device 11 is attached to base portion 1, and this apparatus main body has can be around the vertical angular instrument of vertical pivot 7 rotations.Base portion 1 has for horizontal aligument plotting board 11 or in other words for for example by means of the unit of three set screw and circular bubble and/or electronic level vertical adjusting vertical pivot 7.Apparatus main body 2 has operating unit 4 and is connected to and is aimed at unit 3 by sloping shaft angular instrument, and this sloping shaft angular instrument can be around tilt axis 8 rotations.In the illustrated case, aim at unit 3 and have telescopic sight, this telescopic sight has object lens 6 and has eyepiece 5, that is, it is equipped with transparent optical passage.Other embodiments also can, as the additional or alternative arrangement of optical telescope, have the digital eyepiece and/or the screen display that are positioned on operating unit 4 or external control unit.Aim at unit 3 and have target axis 9, this target axis is in the ideal case accurately perpendicular to the tilt axis 8 of tilt axis angular instrument, and this tilt axis is then perpendicular to the vertical vertical pivot 7 of the vertical aligning of angular instrument.Therefore quadrature and target axis 9 can move around two axis with respect to base portion three axis approx at least each other.In the direction of target axis 9, utilize the photoelectron angular instrument aiming in unit 3 to carry out range observation, the optical axial of this photoelectron angular instrument is in ideal conditions corresponding to the target axis 9 as score 10z.Any possible error and deviation apart from this axis arranged are considered to instrument error, and this instrument error must be considered to obtain correct result during measuring.A plurality of these errors can be set up by so-called two positions measurement, from these errors, can be identified for the further calibration parameter of the figure adjustment of the measurement result of measurement, as described in detail in device handbook.

Therefore, device 11 can utilize two clinometer rules and stadimeter in polar coordinates, to survey and draw the target object aiming at.Polar coordinates can also be converted into other coordinate systems subsequently, or can carry out more complicated mapping task and calculating based on this, these tasks and calculate can be for example by the digital machine in device or utilize outer computer, by operating unit 4, carry out in a controlled manner.

Photoelectron stadimeter is implemented in the example shown coaxially,, the beam path of the beam path of the optical radiation 10z of transmitting and the optical radiation 10y that received by device 11 has at least approximate shared optical axial, and this optical axial also overlaps with target axis 9 in the ideal case.Basic demand is, at least guarantees that the optical axial 10y of receiver aims on the score 10z of transmitter, makes the visual field of receiver record the luminous point of transmitter on target object.

Illustrated embodiment is Optical Plotting Attachment 11, and this Optical Plotting Attachment 11 has for setting up the base portion 1 of this device 11 and aiming at unit 3, and this aims at unit can be with respect to base portion 1 around two axis 7 and 8 rotations, and these two axis are provided with clinometer rule.Aim at unit 3 and have for aiming at and wait the target axis 9 of the target object 40 surveyed and drawn and there is the first beam path 10z for the direction utilizing emitted light radiation 10 of the target object 40 along waiting to be surveyed and drawn, and for receiving by photoelectron receiving element from the second beam path 10y of the component of the optical radiation 10 of target object 40 reflections.

What the following describes has particularly described the aspect of brief overview below according to the embodiment of plotting board of the present invention.

Optical element 30 can have a plurality of circumferential final control elements that activated by electric activation signal along volume main body, particularly at least for, be preferably eight or more control element.Optical element 30 can be embodied as and make its light refraction characteristic variable, the variation of deflection of the optical axial of relevant beam path can be carried out by electric activation signal, and wherein particularly optical signalling can utilize the variation of deflection to change between reference path and measuring route.

In addition, optical element 30 can be embodied as and make its light refraction characteristic variable, and the variation of the axial gathering of relevant beam path can be carried out by electric activation signal, wherein particularly focusing energy disperse and assemble between change.

Plotting board 11 can have photoelectron stadimeter, and the beam path of the optical radiation of guiding stadimeter can have such optical element.

Plotting board 11 can have automatic target and detect, and the beam path of the optical radiation of guiding target detection can have such optical element.

Optical element 30 can be arranged in the first beam path, wherein, and along with the variation of light refraction characteristic can be carried out static state and/or the modification of dynamic object line.

For example, can utilize static object line to revise the aligning of calibration target axis.

Plotting board 11 can have the optical sensor element for the incidence point of the optical radiation in recognition target object, and the adjusting of the activation signal of optical element can be carried out in the analysis based on sensor element, make incidence point with respect to the shape of target axis and/or position corresponding to set-point value.

According to the present invention, for surveying and drawing the method for target object 40, therefore can utilize Optical Plotting Attachment to carry out, set up the base portion of device, by the target axis that aims at unit by using aiming unit around two axis rotations with respect to base portion, carry out run-home object, these two axis are provided with clinometer rule.

Utilization along the first beam path utilizing emitted light radiation, and receives by photoelectron receiving element the component that optical radiation reflects along the second beam path from target object and carries out aiming in the direction of target object.

According to the present invention, the modification of the first and/or second beam path is carried out in the variation of the light refraction characteristic of optical element of utilizing at least one path be arranged in beam path at least two non-uniform directions.Carry out towards the different distortion with the medium of the light refractive index that departs from this volume main body at least two incomparable inconsistent directions at this interface by optically transparent deformable volume main body, and this distortion is controlled by means of a plurality of electric activation signals.

Modification can be performed as the static object line of form of beam shaping of the different angles of divergence of the optical radiation that is transmitting and revise.

At least two wavelength of emission energy utilization of optical radiation, particularly a visible wavelength and a nonvisible wavelength are carried out, for example, utilize LASER Light Source, by two wavelength of this LASER Light Source, can be launched by single parts.The modification of revising as static object line can make first and/or the optical radiation of second wave length with respect to target axis, aim at.

Revise and can be implemented as in this case the modification of static object line, the distance of the beam path that makes to comprise optical element adapts to assemble and is performed, described static object line is revised particularly has the first beam divergence for noncooperative target object, and this first beam divergence is less than the second beam divergence of cooperation target object.

Modification can be performed as static object line and revise, and the adaptation of the gathering of the beam path that makes to comprise optical element is performed, thereby makes the irradiance of photoelectron receiving element keep at least approximately constant.

Modification can also be performed as dynamic object line and revise, and this dynamic object line is revised the dynamic change with refracting characteristic, reduces the mottled effect of optical radiation, and/or makes the modulating wave of optical radiation front level and smooth, and the cycle particularly with refracting characteristic changes.

Modification can be performed as dynamic object line and revise, this dynamic object line is revised and is utilized beam path scanning motion to target object about set-point target direction in a region, and described dynamic object line is revised especially wherein by survey and draw a plurality of points in mapping scanning motion and determined that the edge of target object or the surface of definite target object are with respect to the inclination of set-point target direction.

Modification can be performed as with axis in the dynamic object line of synchronized movement of at least one axis revise, particularly wherein beam path is modified this beam path is aimed at by the static receiver hole on photoelectron receiving element.

The invention still further relates to computer program, this computer program has program code or computer data signal, this program code is stored in machine-readable carrier, this computer data signal is implemented as electromagnetic wave, for carrying out method described here, the particularly wherein activation of the optical element for score revised of program code execution in plotting board according to the present invention, particularly wherein score modification is carried out by the adjusting of the identification with reference to the first beam path by program code.

Fig. 2 a shows according to the example of the inner structure of the first embodiment of the aiming unit 3 of plotting board 11 of the present invention.Parts shown in this example and its arrange wait to be considered to just schematically and can also change in other embodiments or its parts can be economized except, supplement or be displaced in apparatus main body 2.

Device 11 is equipped with transmitted light passage as shown in Figure 1, that is, it has eyepiece 5, and the luminous energy that enters object lens 6 by eyepiece is observed.Alternatively or additionally, observe the record of image and can be carried out by camera 13, and the observation of this image can be performed on monitor or display screen, this monitor or display screen can be arranged on object lens 5, device 11, or its outside.The optical axial of observing shown in the situation that corresponding to the target axis 9 of device 11, at viewing duration, by aiming aid, such as cross-hair etc., can make target axis clear.

In addition, several basic elements of character of photoelectron stadimeter (EDM) are illustrated.The monitoring unit 100 of device 11 is connected to EDM controller 59, and this controller is controlled the optical measurement radiation of being launched by light source 55 via drive(r) stage 57.Light source 55 can be specific semiconductor light sources, for example, is embodied as LED or is the LASER Light Source of the form of solid-state laser, fibre laser or semiconductor laser or its combination.In transmitted light beam path, can have a single source or a plurality of light source, described light source can have for example different optical characteristics, such as wavelength, polarisation etc.As the following describes, can also use semiconductor Laser device, by this semiconductor Laser device, can launch more than one optical wavelength.

In embodiment shown here, liquid lens 30 according to the present invention is arranged in the beam path of transmitting of device 11, this liquid lens is implemented as that to have in the wavelength coverage of light signal be the element of transparent liquid alternatively, and this liquid has at least one towards the interface with the medium of the light refractive index that departs from liquid.Interface, by means of a plurality of electric activation signal deformables, can differently change the therefore light refraction characteristic of element at least two incomparable inconsistent directions.Yet if occur in the uniform variation at least two incomparable inconsistent directions, the angle of divergence of lateral radiation also can utilize liquid lens 30 according to the present invention to set.

The modification of score can utilize liquid lens to carry out.Shown in the situation that, it is range observation.

According to the present invention, liquid lens 30 for example can also be arranged in the radiative beam path of target illumination, for example, for automatic target identification (ATR), thereby to revise its score to the similar mode described in range observation.

When there is a plurality of light source 55, according to the present invention, can also apply a single or multiple liquid lens 30, particularly so that their optical axial overlaps or to carry out another modification in revising of the score of detailed hereafter.For example, infrared light supply can be set to for range observation, and the guide beam in visible range can be provided for making IR score visual on target object 40, this IR score can utilize score modification automatically to reach corresponding by liquid lens 30 according to the present invention, and needn't carry out mechanical registeration.In the embodiment shown, the beam path of ATR light source 12 has liquid lens 30, and this liquid lens is shown by dashed lines, and according to the present invention, this liquid lens can alternatively or alternatively arrange in addition.Not shown in order to understand for the visual above-mentioned secondary light source of target axis.

In addition, for the reference light component 10r of measuring radiation, be illustrated, it is directed by the reference part in device, and if its form that can also utilize liquid lens 30 to revise with score according to the present invention, be directed into measure optical receiver 56(needs).

Because, as described in, it is the stadimeter of coaxial configuration, so the beam path of measuring radiation (and as target illumination radiation of shown here light source 12) is reflected on the optical axial of object lens 6 and therefore and is reflected on the target axis 9 of device.As described in, can there is deviation in this case, this deviation can utilize liquid lens 30 to revise with score form according to the present invention is compensated.Measuring light or its at least a portion is reflected from target object 40 now.Shown in the situation that, target object 40 is implemented as retroreflector, however target object 40 can also be natural target, for example, wall etc.

The receiving element 56(that reflecting bundle path 10y is deflected EDM for example, photodiode) upper, this deflection can for example select deflection carry out by wavelength.Therefore the light signal receiving is adjusted to the electric signal in piece 58, and from installing 11 distances to target object 40, by distance measuring unit 59, determined, this distance measuring unit is for example the form of the combination of measurement working time, phase measurement, signal shape analysis or these principles.

Receiving beam path also deflects on camera 13, and camera for example has CCD or cmos image sensor, and or additionally as RIM sensor, and deflect into eyepiece 5.

Fig. 2 b shows according to the example of the inner structure of the second embodiment of the aiming unit 3 of plotting board 11 of the present invention.Contrary with Fig. 2 a, the direction that can not only utilize liquid lens 30 to carry out score 10z adapts to, but also the deflection shown in for example utilizing here and coupling mirror are carried out the deflection of transmitted light beam on the 10r of optical reference path.

Fig. 2 c shows according to the example of the inner structure of the 3rd embodiment of the aiming unit 3 of plotting board 11 of the present invention.With contrary at front figure, liquid lens 30 is arranged in the receiving cable of stadimeter here.

Fig. 3 a shows according to the example of the modification of optical radiation 10 of the present invention.The embodiment of liquid lens 30 is illustrated, and by means of this liquid lens optical radiation 10, is changed.In the example shown, the relevant Axial changes (that is, focal variation) of activation of transmitted beam occurs, for example, this is because at least approximate uniform activation is circumferentially performed along lens.The ratio of beam diameter and lens diameter may not always be illustrated the reality in approaching figure here, especially, in the situation that reality is implemented, can occur by the higher usage level of the liquid lens surface area of beam cross section.

Fig. 3 b is usingd vertical view and is shown the liquid lens 30 as the element in the direction of optical axial.Four final control element 31a, 31b, 31c, 31d are shown, utilize this four final control elements, the light refraction characteristic of element can differently change by electric activation signal on direction 33a and 33b.The arrow that is arranged in edge represents to act on the power on the liquid of liquid lens, and this power causes the distortion of interface 63g.In the example shown, the beam shape 10a of optical radiation 10 is changed to beam shape 10b by activation, this is because the liquid lens main body of liquid lens (30) can, by means of a plurality of electric activation signal distortion, therefore can differently change light refraction characteristic at least two incomparable inconsistent directions.As the deflection shown in an example, cause the different refracting power along level and vertical direction.Therefore the focal length having distributed is different, and lens have effect of astigmatism.

Fig. 3 c shows another and activates (referring to arrow), and wherein the optical axial of optical radiation 10, in its direction, variation has occurred, and this optical radiation represents by the skew circle 10a for input beam with for the skew circle 10c of output beam.In the difference of the refracting characteristic embodiment shown in changing on mutually orthogonal directions 33a and 33b here, occur.In solid angle section, that is, on two orthogonal direction in spaces, the direction of the deflection of the optical axial of radiation changes and can therefore by driver 31a, 31b, 31c, 31d, be performed independently of one another.Between this active period, lens center upward displacement and leaving from axis, this causes wedge effect, and light beam is upwards deflected the party.

The activation energy of liquid lens (30) is carried out by the dynamic adjustments of static cost control or activation signal, and wherein activation energy is carried out by the computer program on the digital machine of the control module of plotting board 11.

Fig. 4 a and Fig. 4 b show another embodiment of liquid lens, and this liquid lens has eight along its circumferential final control element.In instructions, four or eight final control elements of shown here treat to be only considered to that example and this quantity can comprise from three until higher value substantially, and this depends on the free open top changeability of refracting power and the requirement of distribution to liquid lens 30.

These final control elements can be as mentioned above for example, power induced liquid transmission wetting according to electricity or other principles operate, these principles are particularly illustrated in quoted document, wherein activate finally with the form of electricity, to occur all the time.Liquid lens, that is, geometric configuration and the aligning of the interface 63g of liquid or caoutchouc elasticity lens body are changed, and the rigidity lens of being made by the plastics of glass or solid shape are not for example shifted or tilt.By a plurality of final control element arranged according to the present invention, the shape of interface 63g, and therefore its refracting power and distribute can be in a controlled manner above the hole of element different directions 33a, 33b, 33c and the 33d along the element plane of liquid lens 30 differently change.Therefore, not only by the circular symmetry curvature of liquid lens main body, change the focal length causing and adapt to, and radiation energy is modified in the mode greatly changing according to the present invention, as below with reference to application according to the present invention explanation in plotting board.Electricity activates the corresponding final control element 31a to 31h of unit 32 operation, and this is illustrated by connecting line.Driver needn't be usingd as the circular symmetry form of section attached along rims of the lens, as illustrated in simplified form here.

The activation of liquid lens 30 allows lens,, especially the anaclasis interface 63g having between two media of different refractive indexes is out of shape in a controlled manner, wherein according to the present invention, in the direction of at least two different optical axials that are orthogonal to incident radiation, that is, in the element plane of liquid lens, the different distortion of interface 63g can utilize a plurality of activation to obtain more or less.The suitable electricity of the electrode by liquid lens activates, and for example, error in optical imagery or beam shaping (astigmatism or coma) can additionally be reduced or eliminate.Yet, as the whole liquid lens of optical element is not in the position, puts middle skew or aim in device, but installing regularly.This cause in plotting board beam path according to alterability of the present invention, the alterability of laser eyepiece line particularly.Therefore, different refracting characteristics is at least controlled on both direction at this, and therefore optical radiation can manifold mode be revised, as being employed according to the present invention in the improved situation of plotting board.Yet mechanical device structure is uncomplicated, but contrary, compare with utilizing the same functionality of other devices may implement (if needs), even can simplify and the quantity of required parts also less.

Except shown in activation terminal, can also further exist for determining the sensor terminal of current lens shape.These sensor terminal can for example be implemented as the electrode of determining the current shaping of liquid lens for capacitive character, and for example conduct is along the circumferential other section of lens.Except so direct shape of lens, determine, the current light refraction characteristic of lens also can be detected by corresponding sensor.

Fig. 5 shows the first example of the embodiment of liquid lens 30, and it has been revised according to the optical radiation 10 in Optical Plotting Attachment of the present invention.On the one hand, refracting characteristic can utilize suitable activation to be changed, and makes beam shape from 10a, change to 10f in a controlled manner, that is, dispersing of light beam adapted to, and this is to adapt to because there is the focal length of liquid lens 30.

On the other hand, the refracting characteristic of liquid lens 30 can utilize suitable activation to be changed, and the beam direction that makes optical axial deflects into another direction in space (as shown in by bottom arrow) from 10a in a controlled manner, for example, deflects into 10c, 10d, 10e.

Liquid lens 30 is configured to circular symmetry and with section, is illustrated here.In this example, lens body comprises two kinds of immiscible liquid 60 and 63, and these two kinds of liquid have different light refractive indexes, and the beam path of lateral light radiation 10 is modified at 63g place, its interface.Alternatively, between two kinds of liquid, also thin hyaline membrane can be set.If two kinds of liquid have at least approximately identical specific density, to the gravity effect of the shape of interface 63g, can be excluded to a great extent, this has especially simplified its applicability in the situation that have plotting board rotatable and/or that can pivotable aim at unit, and liquid lens needn't be aimed at according to its locus again by driver, to keep its characteristic constant.As mentioned, replace liquid (for example, water, oil, alcohol etc.), can also use the polymkeric substance (for example, silicone, elastic body, silicone rubber etc.) in plastically deformable or caoutchouc elasticity state.In order to activate, be attached with electrode 61 and 62, by means of electrode, the principle wetting according to electricity, the geometric configuration at interface can be changed.Yet, except this action principle, can use other drivers, the deformation energy of its median surface is directly or indirectly caused by electric signal.For example, known principle (such as the piston moving by means of magnetic coil or spring) can be employed, the restriction volume in the perimeter of its change liquid lens 30.Driver can be along liquid lens be circumferentially divided into multistage, each section all can be activated individually, and by described section, the symmetric deformation without spin of the optical axial with respect to liquid lens at interface is producible, makes the more complicated modification that refracting characteristic can be traditional from those, perfect lens is varied to lateral light radiation.By corresponding activation, utilization is according to liquid lens 30 of the present invention, except focal length variations, for example, leave angular deflection, ball aberration, astigmatism, coma or the other optical parallax of the optical axial of light and also can intentionally be introduced or proofread and correct, this is described below in connection with its availability in plotting board 11.

Fig. 6 a to Fig. 6 c with sectional view illustrated for the optical radiation 10 of plotting board according to the second example of the embodiment of the liquid lens 30 of modification of the present invention.Shown liquid lens 30 for example can comprise the two-dimensional matrix of the discrete component illustrating in a row here.The plane of delineation 74 or object plane 73 are illustrated respectively the both sides of ground liquid lens 30.Liquid lens 30 consists of first liquid part 30t and second liquid part 30f, and this first liquid is partly for obtaining optics wedge effect, and this second liquid partly partly separates with first liquid by solid-state middle part 30m, for focal length, adapts to.Liquid lens 30 is divided into single subsegment as shown, and the optical axial of these subsegments is illustrated by the triangle shown between lens and image/object plane.

Fig. 6 a shows the home position of the liquid lens 30 that there is no activation.Imaging is being gone up respectively as shown each other in region by dashed lines labeled in the plane of delineation and object plane.

Fig. 6 b shows the activation 31 that makes the angular deflection of optical radiation for the distortion by first liquid part 30t.Home position is illustrated by dotted line.Therefore the angular deflection of the optical axial of optical radiation is caused by the triangle rotating.

Fig. 6 c shows the activation 31 that makes the focal length variations of optical radiation for the distortion by second liquid part 30f.Home position is illustrated by dotted line.Therefore show compressed triangle and more close object plane 73.

In Fig. 6 b and Fig. 6 c, all subsegments are all activated jointly, yet they can also be with subgroups or are activated individually, to obtain the specific modification of optical radiation.Obviously also can carry out the combination of revising from two light beams of two figure.

Fig. 7 a to Fig. 7 c with sectional view illustrated for the optical radiation 10 of plotting board according to the 3rd example of the embodiment of the liquid lens 30 of modification of the present invention.The surface of the actual liquid 30z of liquid lens is equipped with optics microcomponent 301, the form of this optics microcomponent microlens spherical in shape in the example shown, yet, also can use other forms, for example, be positioned at the concentric circles (Fresnel optics) on the film that comprises lens liquid 301.It for example can consist of the two-dimensional matrix of microcomponent 301 that illustrate or that be the form of concentric ring structure in a row here.

Fig. 7 a shows the non-distortion home position that there is no the liquid 30z that activates, and from the beam path of its acquisition.

Fig. 7 b shows the first example that activates 31, and the modification causing thus of optical radiation that is the form of shorter focal length.

Fig. 7 c shows the second example of the activation 31 that is the form of amplifying focal length.

Except shown in these activate 31, by other, activate the 31 further modifications that can also obtain optical radiation 10.The geometric format of liquid lens 30 and its parts also can be changed.

The obtainable more modification according to the present invention will be described below, and these modifications can utilize the liquid lens in plotting board to carry out according to the present invention.

Fig. 8 a to Fig. 8 i is the example of revising according to score of the present invention with the refracting characteristic that can differently change along multiple directions, this score is revised and can be utilized liquid lens 30 to carry out in beam path, to improve measuring accuracy, the rated capacity and/or functional of plotting board 11.Therefore can utilize the electricity of liquid lens to activate to cause to be from installing the static beam alignment of optical radiation 10 and/or the score causing of the form that dynamic beam turns to of 11 transmittings and revise, and in device 11, not carry out mechanical motion and the local displacement of rigid optical parts.

Fig. 8 a shows liquid lens 30, utilizes this liquid lens, and the beam path experience of stadimeter is the modification with respect to the form of the angular deflection of score.In the example shown, this is used for mapping as the edge 41 of the buildings of target object 40, this be because above edge 41 and then periodically back and forth scanning survey apart from radiation, to accurately detect this edge.Edge 41 can for example be performed by means of the image recognition in the visual field of device 11 in first step, after this, the above-mentioned detailed mapping at edge 41 occurs.Edge 41 can also additionally for example be scanned perpendicular to board plane by means of the servo driving in the tilt axis angular instrument 8 of device 11.For example, can process and automatically along edge, move by image, the light beam of range observation simultaneously scans the lateral contour at edge continuously.

Fig. 8 b shows the example of the modification of the beam path that utilizes liquid lens 30, and wherein horizontal oscillatory scanning 42 and/or vertical oscillatory scanning 43 utilize the light beam 10 of stadimeter in the region of target axis 9, to be performed in the viewing area 49 of device 11.

Fig. 8 c shows in device 11 the visual field 49 example of utilizing the modification of the beam path 10 that the flat scanning in region 44 carries out along the direction of target axis 9.Except apart from the surperficial distance of waiting to be surveyed and drawn as target object, for example, can also determine the inclination with respect to target axis 9 on surface.

Fig. 8 d shows around the example of the modification of the beam path that utilizes circular scan 45 in the region of realistic objective axis 9.The corresponding beam diameter place of measuring radiation 10 on target object, this beam diameter can also be modified according to the present invention, and target axis 9 also can be by around (not shown here).Therefore, for example, as target object, wait that the bight surveyed and drawn can not only be by graphical analysis, but also characterized by range observation, and these information projects can be for the object of alignment device 11 on bight.According to the present invention, only range observation light beam can also be with respect to actual target axis 9 by transverse shift (still pitch of the laps or statically), to survey and draw more accurately its distance (and reducing spot), wherein target axis 9 also can be considered in analysis with respect to the corresponding angular displacement of range observation light beam.

Fig. 8 e shows the target direction of measuring beam with respect to the example of the displacement of target axis 9.Such displacement energy is intentionally introduced (for example,, as further described upper) according to the present invention.Yet displacement can also be the correction of unexpected directional error, this directional error can utilize according to the present invention static object line to revise to proofread and correct.

Static object line is revised and can be utilized liquid lens 30 according to the present invention to carry out.That is to say, deflection within longer a period of time, that is, and a plurality of minutes, hour or the long period remain unchanged, or in these periods only minutely, that is, with a few percent, change.Such static object line is revised the plotting board 11 for being equipped with according to the present invention, for example, and with target axis 9 alignings with respect to device 11 and the score 10 of stable stadimeter.Because such modification utilizes liquid lens 30 according to the present invention, in device operating period of 11, be possible, therefore at device production period, for the certain measures that keeps the device of this aligning to design, also can be omitted during for the requirement of aiming at and alternatively in occurrence temperature variations, impact etc.Utilization is according to liquid lens 30 of the present invention, this liquid lens can make its light refraction characteristic can be in different change in two or three (at least two laterally and one axially) incomparable inconsistent directions at least by a plurality of electric activation signals structures, can carry out revising for the static object line of score stabilization, this static object line is revised and also can for example in the visual field, in simple mode, be calibrated.By for example, for (making the visual device of the laser eyepiece line of range observation, visible measurement light, the measurement light that can be detected by the camera in device, fluorescent target surface, for measuring the ad-hoc location sensitive sensor etc. of light), can even automatically carry out alternatively such calibration.If liquid lens used according to the invention 30 can have the optical characteristics changing with height repeatability, the feedback of otherwise using in the device of current deflection (for example, for this reason by sensor special or by reflection, particularly parasitic reflection in use device) can be omitted.It is very little that lag-effect under any circumstance usually becomes, or almost can be processed simply, and this is because the approaching of the refracting characteristic of expectation can be all the time from equidirectional or even from identical reference position generation.

Another improvement of accuracy of instrument can be performed, this be because the system drifting of score aborning (for example,, during final test) measured.For example, the mistake as the score of the function of temperature aims at parameterized by means of batten or is stored in table.During instrument application, then corresponding temperature correction is put on score together by temperature sensor.Temperature sensor can be near the attached drift with compensation liquid lens 30 of liquid lens 30.

Utilize the static object line of liquid lens 30 revise can as described in be used for compensation apparatus error, misalignment etc.Yet the displacement of score 10 also can deliberately be introduced.For example, device target axis 9 only can be aimed at cursorily on target object, and the position, accurate angle of this target axis is automatically recognized (the automatic detection of image recognition, reverberator etc.) or is for example determined on screen by user in the visual field of device 11.Then the measuring beam of range observation can utilize liquid lens 30 to be deflected in the direction, to accurately survey and draw impact point, and device target axis 9 is not accurately aligned on this impact point.Be similar to the route tracking for the driver of optical data carrier, therefore utilize servomotor (or also using alternatively hand in the situation that of plotting board), be combined with the fine registration of actual measurement by optical device (in the present invention especially by liquid lens according to the present invention), carry out coarse positioning.

Fig. 8 e especially shows the visual field 49 of the device 11 with its target axis 9.In the visual field 49, can utilize as mentioned above the incidence point of laser emission 10 of stadimeter of the plotting board 11 of liquid lens displacement to be positioned, this incidence point is represented by cross arrow.Therefore liquid lens can be carried out steady stability, that is, make a little 10 correspondingly with target axis 9, or aims at controlled deflection from this.

Fig. 8 f shows the example of mapping, wherein uses non-coincidence with respect to the direction of range observation of target axis 9.Target object 40 is bights of buildings, and this bight utilizes the target axis 9 being represented by the cross-hair of painting for angular measurement to be aimed at.In order to carry out range observation, the in the situation that of concentric range observation, the basic ratio of measuring radiation is lost keeping to the side or is waited the target of the target of being surveyed and drawn and will cause blur level hitting to be different from.Due to displacement shown in the impact point of the range observation in the bottom left shape of target approach object 40, all measuring radiation can be oriented on target object and for mapping.In refining, the stack of above-mentioned scanning motion can be used for realizing determine the surface measured with respect to the inclination of optical axial and therefore for arithmetic compensation by this inclinations any possibility measuring error via the measurement point of displacement.The mapping of edge or stage portion also can by utilize the cross-hair of target axis 9 aim at bight and four square middle execution around cross-hair repeatedly range observation carry out.

Fig. 8 g show from the different angles of divergence of the laser beam (as oval-shaped beam) of semiconductor light sources transmitting according to the example of compensation of the present invention, this semiconductor light sources be used as according in plotting board 11 of the present invention for surveying and drawing the optical radiation of object.Utilization liquid lens used according to the invention in plotting board, can carry out light beam and revise or compensate the beam divergence that depends on axis.

Liquid lens has liquid for this purpose, and this liquid is transparent in the wavelength coverage of optical signalling, and this liquid has towards at least one interface with the medium of the light refractive index departing from from liquid.Yet adjacent media can be liquid then or be for example air.Interfacial energy, by a plurality of electric activation signal distortion, therefore can differently change the light refraction characteristic of element at least two incomparable inconsistent directions.Therefore, for example, the size of setting the measuring radiation point of incident can realize in the whole measurement range of plotting board, the shape of incidence point wherein, that is and, the shape of measurement luminous point can be adjusted to such as circular, oval etc. according to standard.Therefore, for example, if wait to be imaged or to project at incidence point place beam shaping, and there is no astigmatism, preferably at least two liquid lenss are used successively, amplify thus and can as image amplification, along multiple directions, set.

Fig. 8 h show in ATR or measuring beam spot according to compensation of the present invention or by the example of the adaptation before the modulating wave of the optical radiation of device 11 transmittings.Liquid lens can be activated precedent as the cyclical variation of its refracting characteristic, and this causes cleaning of mottled effect.The amplitude of this variation for this purpose can be very small, but particularly with larger frequency, be performed, particularly there is such amplitude,, this amplitude is enough to blur spot, and has such frequency,, this frequency during one-shot measurement or surpass repeatedly measure and measure enough make rapidly spot average, described surveyingpin forms by average measured value.

Fig. 8 i shows as the adaptation before the modulating wave of the intensity of the radiation of the transmitting of another example of score modification according to the present invention.Photoelectron device (such as stadimeter, ATR or target search unit) utilizes according to the transmitted beam of time sequencing modulation and operates.The measuring accuracy of such plotting board is affected by flatness or the homogeneity before the modulating wave of used radiation 10 especially.Liquid lens 30 can be for the adaptation before the modulating wave of the measuring radiation of launching.Particularly, the multistage driver of liquid lens can be used to corresponding distortion by the interface of liquid and obtain before the level and smooth modulating wave of the optical radiation of target object place transmitting, or make to become before modulating wave different expectations, for example plane form.Level and smooth except the static state before modulating wave, also can carry out the dynamic smoothing before modulating wave, wherein, the raising of measuring accuracy is owing to occurring according to the average of time sequencing.Especially the in the situation that of ATR, orientation measurement is interfered in the existence of spot.Realizing by the dynamically active of liquid lens according to the average energy of time sequencing of spot, and the angular accuracy that therefore ATR takes measurement of an angle can be enhanced fully.

Have liquid lens 30 according to the example view of plotting board 11 of the present invention in Fig. 9 with several, partly also the simplified schematic of optional device feature illustrates.Optical radiation 10 utilizations of being launched by device 11 have for the receiving beam path of the receiver lens 50 of the target axis 9 of the observation of the target object 40 of angular measurement is launched by the coaxial reflection of radiation 10.The component of the radiation of the transmitting of reflecting from target object detects and is transmitted to the receiving element (not shown here) of photoelectron stadimeter by inputting optical device 50.The score of optical radiation 10 is revised by the liquid lens 30 in device and is carried out, and described score is modified in here and is represented by bottom arrow.Yet except score displacement, another score modification or particularly its combination described here also can be undertaken by liquid lens.Area image sensor 51(for example, CCD or CMOS camera) also shown in this view, utilize this area image sensor, object physical efficiency is visible.Alternatively, the target illuminator being associated with area image sensor can also be equipped with liquid lens 30, typical score revise be for example Range-based disperse setting.In addition, transparent channel, target illuminator, optical position sensitive element, automatic aiming and/or target following for target detection, the reference path for range observation, additional image recognition element and the optical element (such as lens, deflecting mirror, prism, wavelengths filters, polariscope etc.) greatly changing can be set, and these elements are not for clarity sake illustrated here.

The example of the optional detection in device that on the contrary, the current light beam of the optical radiation of transmitting is revised is illustrated with shade.Shown example is used the parasitic internal reflection 54 of radiation to be launched in the inside of device 11, and this parasitism internal reflection is received or is deflected thereon by light activated element 53.Light activated element 53 can be for example PSD, one or more photodiode or CCD or CMOS array.Alternatively, except above-mentioned parasitic reflection, also can use the branch of the component of special radiation of installing for this purpose.For example, by holograph 77, the sub-fraction of radiation can be reflected and deflection with special angle, makes it be supplied to position sensor.。。Use and will in the mode of exchanging, use in this manual with respect to it with the implication of target axis

Figure 10 shows such particular case, wherein the transmitting of optical distance measurement radiation with respect to device 11 target axis direction 9 twin shafts occur.The receiving beam path that therefore optical axial in the transmitting beam path of range observation 10a, 10b clearly departs from the object lens 50 for example with target axis 9, this is that special-purpose optical device disposed adjacent one another is respectively used to this object because as shown.Alternative as illustrated embodiment, receiving beam path can also be equipped with liquid lens 30 and transmitting beam path can not be equipped with liquid lens 30, wherein in this particular case, target axis can alternatively be limited by transmitting beam path, and the implication of term score and target axis is used and will in the mode of exchanging, be used in this manual with respect to it thus.By have optical transparent liquid, according to the present invention for the liquid lens 30 of plotting board 11, this liquid lens has towards at least one interface with the medium of the light refractive index that departs from liquid, this interfacial energy is by a plurality of electric activation signal distortion, therefore the light refraction characteristic of liquid lens 30 can be changed at least two incomparable inconsistent directions, the incidence point of measuring radiation on target object 40 also can be in the situation that such Non-coaxial system be set, and this incidence point is independent of distance and is parked on the axis of target direction.Therefore, in the situation that approaching target object 40 and in the situation that remoter target object 40b, it is measured on target axis direction 9 all the time, this can utilize the liquid lens 30 in plotting board 11 to be revised to obtain by score, and this is because the direction of the optical axial of transmitting for example changes to 10b from 10a.The incidence point of the radiation of therefore, being launched by range observation light source 55 is positioned at all the time on device target axis 9 and by analyzing the definite distances of range observation optical receiver 56 and is limited at all the time no matter the twin shaft of transmitter is arranged the some place being positioned on target axis 9.As other score, revise, for example, the calibration of measuring radiation can additionally be adapted to, to obtain respectively the luminous point of expectation with different target ranges on target object.The controlled static state of the distance measurement point from target axis 9 of describing in the document or dynamically deflection also can be additionally employed as another example of the modification of score.

Alternatively, during distance is determined, the angular deflection being caused by liquid lens 30 can be taken into account, this angular deflection in the situation that approaching target due to triangular form especially destruction range measurement result.The incidence point of measuring radiation can be for example by optical position sensitive element 51(for example, camera) determine, and deflection can be adapted to by liquid lens 30 based on described incidence point.The problem that adjacent region covers also can overcome by the liquid lens 30 in plotting board 11 according to the present invention.

Figure 11 shows exemplary goal line and revises, and wherein the optical distance measurement radiation of the light source 55a of stadimeter utilizes liquid lens 30 to change.Light source 55a is laser diode, and it can launch different wave length 10a and 10b, for example, and infrared and/or red color visible.Such element can buy on market, yet the radiation of two wavelength is launched at difference place and/or light beam has different divergences, and these light beams additionally also stand exemplary scattering conventionally.Utilization is revised by the score of liquid lens 30 according to the present invention, such element can be used in plotting board, this is because so not only the aberration that may depart from emission parameter but also transmission optics device of LASER Light Source 55a can be proofreaied and correct by liquid lens, and the aligning of laser eyepiece line on target axis is executable (or deliberately depart from from it, as described in).Therefore, for example, the measurement in retroreflector can utilize invisible IR radiation to carry out, and can utilize visible measurement point to carry out the measurement of no reflection events device, and score 10 and target axis 9 can be aligned with each other.Its any may calibration can automatically and in the visual field be performed, and user needn't carry out mechanical interference.Known phenomena in laser diode is the thermal drift of their emission wavelength.When use has the simple and effective collimation optical device of cost of color longitudinal chromatic aberration, quarter-wave condition can keep by the temperature survey on liquid lens and laser diode, makes laser spots acutance on target object 40 in the situation that the thermal drift of its emission wavelength occurs be also maintained.

Figure 12 shows exemplary goal line and revises, wherein, utilize liquid lens 30, the range observation radiation of the light source 55a of stadimeter is the reference part by known length along the direction of target object 40 from the form of installing the form of the radiation 10a of 11 transmittings and be transmitted or being the reference radiation 10r in device and is transmitted to receiver RX for range observation radiation.To this function alternatively, utilize liquid lens 30, the beam divergence of the radiation 10z that the score 10z of stadimeter can also be changed and/or launch with respect to the aligning of device 11 target axis 9 can be changed.Other scores by liquid lens 30 of describing in the literature are revised and also can be applied.

Figure 13 a shows plotting board 11 with the form of greatly simplifying, and this plotting board 11 has the transmitting beam path of the stadimeter being arranged on wherein.Lasing light emitter 55 transmittings are for the amplitude modulated optical radiation of range observation, and this optical radiation is revised by liquid lens 30 according to the present invention.In order to realize the good visibility of a little accurately measuring and guarantee the measurement point on target object 40, range observation radiation is modified, and its beam waist is parked on target object 40 at least approx.In order to set this, for example can use the result of the first range observation.

Liquid lens 30 can also be placed on receiver RX the place ahead.Particularly, the in the situation that of short measuring distances, by the geometric configuration of utilizing liquid lens 30 to adapt to range observation beam path, cause avoiding near field to be covered.Object 40 can be imaged on receiver RX about all distances at least greatly by liquid lens 30.

Figure 13 b shows the situation of Figure 13 a during the remoter target object 40 of mapping, and wherein the score 10z of stadimeter is visible from installing the deviation of 11 target axis 9 in addition.Utilize liquid lens 30, in this example, measure in the region that light is gathered in respectively target object 40 then and/or the skew of two target directions is compensated or the skew that may expect is introduced into, or dynamic scan motion is introduced into, beam divergence adaptation, spot minimizing, wavefront adaptation etc. are performed, in brief, the combination of the selection that the score described in the literature is revised, wherein concrete selection requires to produce by measuring.

Figure 13 c show during mapping good reflection, cooperation target (retroreflector shown on such as the mapping rod 40b as target object) from aforementioned two figure according to plotting board of the present invention.Because target object reflects well, so measuring radiation can utilize liquid lens to be significantly more divergently launched in this case, so range measurement accuracy is because too low signal intensity worsens.This measuring beam 10z wide, that strongly disperse can also for example identify target for the visual field of the ATR at device 11 automatically, utilizes ATR, and the position, angle of target object 40 also can be automatically determined.In order to reduce mottled effect, this mottled effect has interference effect during precision target is searched, and above-mentioned one of them method can additionally be applied to this object.In one embodiment, for example, dispersing of measuring beam 10z can be set as the function of measuring distance, and wherein the angle of divergence reduces along with cumulative measuring distance.Therefore, at mapping rod place or the irradiance at mapping worker place, only along with cumulative distance, slightly reduce, the reception signal of plotting board keeps enough strong and measuring accuracy to be improved thus.

Figure 14 a, Figure 14 b and Figure 14 c show the example of the several other embodiment of plotting board, and this plotting board is equipped with liquid lens according to the present invention, above-mentioned score is revised and can be utilized described liquid lens to carry out.Particularly, these plotting boards are such plotting boards, that is, it utilizes the score that can move around two axis of photoelectron stadimeter to determine the polar coordinates of the impact point on target object.Especially, stadia or total powerstation are shown in Figure 14 a, and laser scanner is shown in Figure 14 b, and laser tracker is shown in Figure 14 c.

Obvious for those skilled in the art, it is schematic that the beam path is here actually, and additional optical element and the geometric condition between them can be correspondingly necessary in the situation that reality is implemented, to obtain described functional in the design of device 11.

According to the present invention, therefore optical element in plotting board 11 30 is implemented and is arranged so that utilizing at that time, and for example, score is revised can be with following form separately or carry out with being bonded to each other:

-about the target axis 9 of plotting board 11 line that aims at the mark;

Dispersing of the radiation of-change transmitting, the particularly variation of directional correlation;

-by the dynamic change of refracting characteristic, reduce mottled effect;

-make modulating wave front level and smooth;

The dynamic scan motion of-execution the first beam path 10z;

-between reference beam path or measuring beam path, switch;

-relative to each other at least aim at the beam path of two different optical emitters; And/or

-utilize the first and/or second beam path tracking target object 40.

Claims

1. an Optical Plotting Attachment (11), this plotting board is stadia, laser scanner or laser tracker particularly, and this plotting board has:

Be used for setting up the base portion (1) of described plotting board (11) and aim at unit (3), this aims at unit can be with respect to described base portion (1) around two axis (7,8) rotation, these two axis are provided with clinometer rule, this aiming unit (3) is defined for and aims at the target axis (9) wait the target object (40) surveyed and drawn, and wherein said aiming unit (3) has:

The-the first beam path (10z), this first beam path for the direction transmitting along waiting the described target object (40) surveyed and drawn particularly from the optical radiation (10) of LASER Light Source; And

The-the second beam path (10y), this second beam path receives from the component of the described optical radiation (10) of described target object (40) reflection for passing through photoelectron receiving element (58,13,51),

It is characterized in that, these beam paths (10z, at least one beam path 10y) has optical element, this optical element is implemented as at least has optically transparent deformable volume main body (63), described volume main body is liquid and have at least one interface (63g) particularly, this interface is towards the medium with the light refractive index departing from from this volume main body (63)

Wherein, described interface (63g) can be by means of a plurality of electric activation signal (31a, 31b, 31c, 31d) distortion, therefore make that the light refraction characteristic of described optical element can be at least two incomparable inconsistent direction (31a, 31b, 31c, 31d) on differently change, wherein said direction (31a particularly, 31b, 31c, 31d) be orthogonal at least approx the optical axial of described optical element (30), especially wherein said optical element (30) is liquid lens.

2. plotting board according to claim 1 (11), it is characterized in that, described optical element (30) has the circumferential a plurality of final control element along described volume main body (63), particularly at least four of these final control elements, be preferably eight or more, described final control element is by described electric activation signal (31a, 31b, 31c, 31d) activate.

3. plotting board according to claim 1 and 2 (11), it is characterized in that, described optical element (30) is implemented as its light refraction characteristic can be changed, thereby make the variation of deflection of the optical axial of relevant beam path can be by described electric activation signal (31a, 31b, 31c, 31d) carry out, wherein particularly optical signalling can utilize the variation of described deflection to switch between reference path and measuring route.

4. according to the plotting board (11) described in any one in claims 1 to 3, it is characterized in that, described optical element (30) is implemented as its light refraction characteristic can be changed, thereby make the variation of the axial gathering of relevant beam path can be by described electric activation signal (31a, 31b, 31c, 31d) carry out, wherein particularly described focusing energy disperse and assemble between change.

5. according to the plotting board (11) described in any one in claim 1 to 4, it is characterized in that, described plotting board (11) has photoelectron stadimeter, and has the beam path (10z of described optical element (30), 10y) guide the optical radiation of described stadimeter, and/or

Described plotting board (11) has automatic target and detects, and the beam path (10z, 10y) with described optical element (30) guides the optical radiation of described target detection.

6. according to the plotting board (11) described in any one in claim 1 to 5, it is characterized in that, described optical element (30) is arranged in described the first beam path (10z), and can carry out static state and/or dynamic object line is revised by the variation of light refraction characteristic, particularly wherein can utilize described static object line to revise the aligning of the described target axis of calibration (9).

7. according to the plotting board (11) described in any one in claim 1 to 6, it is characterized in that, described plotting board (11) has for identifying the optical sensor element (51,53) of the incidence point of described optical radiation (10) on described target object (40), and

The analysis of the adjusting of described electric activation signal (31a, 31b, 31c, 31d) by described sensor element (51,53) carried out, make described incidence point with respect to the shape of described target axis (9) and/or position corresponding to set-point value.

8. according to the plotting board (11) described in any one in claim 1 to 7, it is characterized in that, described optical element (30) is implemented and is arranged so that when utilizing this optical element, can carry out the score of following form and revise:

-with respect to the described target axis (9) of described plotting board (11) line that aims at the mark;

Dispersing of the radiation that-change is launched, the particularly relevant variation of travel direction;

-by the dynamic change of refracting characteristic, reduce mottled effect;

-make modulating wave front level and smooth;

-carry out the dynamic scan motion of described the first beam path (10z);

-between reference beam path or measuring beam path, switch;

-at least make the beam path of two different optical emitters relative to each other aim at; And/or

-utilize described the first beam path and/or described the second beam path to follow the tracks of described target object (40).

9. for utilizing a method for Optical Plotting Attachment (11) mapping target object (40), described plotting board is stadia, laser scanner or laser tracker particularly, and described method has following steps:

-set up the base portion (1) of described plotting board (11);

-by be equipped with two axis (7,8) rotation of clinometer rule with respect to described base portion (1) winding, aim at unit (3) and utilize the target axis (9) of this aiming unit (3) to aim at described target object (40);

Wherein said aiming utilizes following steps to carry out:

-in the direction of described target object (40) along the first beam path (10z) utilizing emitted light radiation (10); And

-by photoelectron receiving element, receive the sub-fraction that described optical radiation (10) is reflected along the second beam path (10y) from described target object (40),

It is characterized in that, the modification of described the first beam path and/or described the second beam path utilizes the light refraction characteristic of optical element (30) at least two incomparable inconsistent direction (31a, 31b, 31c, variation 31d) is carried out, described optical element is positioned at those beam paths (10z, in at least one beam path 10y), described variation is by liquid particularly, the interface (63g) of optically transparent deformable volume main body (63) is along described direction (31a, 31b, 31c, 31d) towards the medium with the light refractive index that deviates from this volume main body (63), be differently out of shape to carry out, and described variation is by a plurality of electric activation signal (31a, 31b, 31c, 31d) control.

10. method according to claim 9, is characterized in that, described modification is performed as static object line and revises, and this static object line is revised the form of beam shaping of the different angles of divergence of the optical radiation that is launched.

11. according to the method described in claim 9 or 10, it is characterized in that, at least two wavelength of transmitting utilization of described optical radiation (10) are carried out, particularly a visible wavelength and a nonvisible wavelength, the transmitting of described optical radiation (10) especially utilizes LASER Light Source to carry out, by described LASER Light Source, described two wavelength can be launched by single parts, and the described optical radiation (10) of the first wavelength and/or second wave length is aimed in the described modification of revising as static object line with respect to described target axis (9).

12. according to the method described in any one in claim 9 to 11, it is characterized in that, described modification is performed as static object line and revises, make the beam path (10z that comprises described optical element (30), distance 10y) adapts to gathering and is performed, especially by means of carrying out for the first beam divergence of noncooperative target object (40), this first beam divergence is less than the second beam divergence for the target object that cooperates (40).

13. according to the method described in any one in claim 9 to 12, it is characterized in that, described modification is performed as static object line and revises, make the beam path (10z that comprises described optical element (30), the adaptation of gathering 10y) is performed, thereby makes the irradiance of described photoelectron receiving element keep at least approximately constant.

14. according to the method described in any one in claim 9 to 13, it is characterized in that, described modification be performed as there is the dynamic change of described refracting characteristic, the mottled effect of described optical radiation reduce and/or the modulating wave of described optical radiation before level and smooth dynamic object line revise, described dynamic object line is revised the cycle particularly with described refracting characteristic and is changed; Described modification is performed as has beam path (10z in the region of winding pinpoint target direction, the dynamic object line that 10y) arrives the scanning motion of described target object (40) is revised, and the modification of described dynamic object line is especially wherein determined the edge of described target object (40) or determined that the surface of described target object (40) is with respect to the inclination of described set-point target direction by survey and draw a plurality of points in described scanning motion; Or described modification is performed as and described axis (7,8) the dynamic object line of the synchronized movement of at least one axis in is revised, particularly wherein beam path (10z, 10y) is modified this beam path is aimed at by the static receiver hole on described photoelectron receiving element.

15. 1 kinds of computer programs with program code or computer data signal, this program code is stored in machine-readable carrier, this computer data signal is implemented as electromagnetic wave, this computer program is for carrying out according to the method described in any one of claim 9 to 14, wherein, described program code is carried out according to the activation of the optical element (30) of revising for score in the plotting board (11) described in any one in claim 1 to 8, particularly wherein score modification is carried out by the adjusting of the identification with reference to described the first beam path (10z) via described program code.